CN115382685A - Control technology of automatic robot spraying production line - Google Patents
Control technology of automatic robot spraying production line Download PDFInfo
- Publication number
- CN115382685A CN115382685A CN202210979422.2A CN202210979422A CN115382685A CN 115382685 A CN115382685 A CN 115382685A CN 202210979422 A CN202210979422 A CN 202210979422A CN 115382685 A CN115382685 A CN 115382685A
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- China
- Prior art keywords
- workpiece
- spraying
- automatic robot
- rotary cup
- electrostatic rotary
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Links
- 238000005507 spraying Methods 0.000 title claims abstract description 63
- 238000004519 manufacturing process Methods 0.000 title claims abstract description 19
- 238000005516 engineering process Methods 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 34
- 239000000428 dust Substances 0.000 claims abstract description 30
- 239000007921 spray Substances 0.000 claims abstract description 9
- 238000004140 cleaning Methods 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims abstract description 6
- 238000004886 process control Methods 0.000 claims abstract description 4
- 239000011248 coating agent Substances 0.000 claims description 9
- 238000000576 coating method Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 239000004745 nonwoven fabric Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0264—Overhead conveying means, i.e. the object or other work being suspended from the conveying means; Details thereof, e.g. hanging hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/0221—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts
- B05B13/0271—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work characterised by the means for moving or conveying the objects or other work, e.g. conveyor belts the object or work standing still during the spraying operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B5/00—Electrostatic spraying apparatus; Spraying apparatus with means for charging the spray electrically; Apparatus for spraying liquids or other fluent materials by other electric means
- B05B5/08—Plant for applying liquids or other fluent materials to objects
- B05B5/082—Plant for applying liquids or other fluent materials to objects characterised by means for supporting, holding or conveying the objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B15/00—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area
- B08B15/04—Preventing escape of dirt or fumes from the area where they are produced; Collecting or removing dirt or fumes from that area from a small area, e.g. a tool
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B5/00—Cleaning by methods involving the use of air flow or gas flow
- B08B5/02—Cleaning by the force of jets, e.g. blowing-out cavities
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention relates to the technical field of spraying production lines, and discloses a control technology of an automatic robot spraying production line, wherein S1, spraying track control: controlling a spraying track; s2, workpiece transmission control: hanging the workpiece on a hook of the transmission equipment; s3, workpiece cleaning control: installing an air pressure spray head on an electrostatic rotary cup of the automatic robot to blow off dust on the surface of a workpiece; s4, spraying process control: spraying the workpiece through an electrostatic rotary cup; s5, workpiece detection control: the sprayed workpiece enters the workpiece detection device through the transmission device to be detected, the air pressure sprayer and the dust collection device are arranged, the influence of dust on the spraying quality is avoided, the four side surfaces inside the square frame are respectively provided with the plurality of color detection sensors of 30 degrees, 45 degrees, 60 degrees and 90 degrees, each surface of the workpiece can be detected by installing the color detection sensors of four different installation angles on the four surfaces, and the generation of unqualified products is reduced.
Description
Technical Field
The invention relates to the technical field of spraying production lines, in particular to a control technology of an automatic robot spraying production line.
Background
In industrial production, a large number of workpieces are often required to be sprayed, the coating is adhered to the surfaces of the workpieces, so that the corrosion resistance of the workpieces can be improved, the workpieces can be more attractive, the workpieces are often sprayed on a complete spraying production line, the workpieces are sprayed by an automatic robot, and then the workpieces are conveyed by an automatic conveying line. Accordingly, those skilled in the art have provided techniques for controlling an automated robotic painting line to address the problems set forth in the background above.
Disclosure of Invention
The present invention aims to provide a control technique for an automatic robot spraying production line to solve the problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
the control technology of the automatic robot spraying production line comprises the following steps:
s1, spray track control: moving an electrostatic rotary cup on the automatic robot to be located at each position of a workpiece and recording, sending an instruction signal to a driving system and an executing mechanism by an automatic robot controller according to the recorded position point, controlling the spraying track of the automatic robot, enabling the automatic robot to act and spray according to the track, and then setting the items of the electrostatic rotary cup;
s2, workpiece transmission control: hanging the workpiece on a hook of the transmission equipment, controlling the transmission equipment to start and stop through a transmission equipment controller, and moving the workpiece for a certain distance and locating the workpiece at the spraying position of the automatic robot in the S1 every time the workpiece is started, and then stopping the workpiece;
s3, workpiece cleaning control: the automatic robot is positioned at one side of the workpiece, and a dust collecting device is arranged at the other side of the workpiece and used for collecting dust on the workpiece;
s4, spraying process control: after cleaning, the automatic robot controller controls the automatic robot to move, the electrostatic rotary cup is used for spraying a workpiece, the electrostatic rotary cup is used for spraying the workpiece in a set track, and after the workpiece is sprayed, the transmission equipment controller controls the transmission equipment to start, so that the sprayed workpiece is driven to leave, and the workpiece which is not sprayed is positioned at a spraying station;
s5, workpiece detection control: the sprayed workpiece enters workpiece detection equipment through transmission equipment for detection, after the workpiece with the surface being lack of coating and missing coating is detected, a three-color lamp at the upper end of the workpiece detection equipment gives an alarm, an automatic controller controls an automatic robot to stop working, and a transmission equipment controller controls the transmission equipment to stop working.
As a still further scheme of the invention: the items of the electrostatic rotary cup in the S1 comprise the spraying distance between the electrostatic rotary cup and the workpiece, the overlapping width of the spraying track of the electrostatic rotary cup, the spraying amplitude of the electrostatic rotary cup, the rotating speed of the electrostatic rotary cup and the electrostatic voltage of the electrostatic rotary cup.
As a still further scheme of the invention: the spraying distance between the electrostatic rotary cup and the workpiece is 15cm, the overlapping width of the spraying track of the electrostatic rotary cup is 1/2, the spraying amplitude of the electrostatic rotary cup is 350mm, the rotating speed of the electrostatic rotary cup is 30kr/min, and the electrostatic voltage of the electrostatic rotary cup is 85kv.
As a still further scheme of the invention: and the automatic robot controller, the electrostatic rotary cup, the transmission equipment controller, the air compressor, the dust collecting equipment, the workpiece detection equipment and the three-color lamp are electrically connected with the PLC control cabinet.
As a still further scheme of the invention: the PLC control cabinet is internally provided with a PLC controller, the PLC controller is an ohm dragon PLC, a Mitsubishi PLC or a Siemens PLC, and a PLC program is introduced into the PLC controller.
As a still further scheme of the invention: dust collecting equipment in S3 includes hollow box body, the internally mounted of hollow box body has negative-pressure air fan, negative-pressure air fan is used for the suction dust, negative-pressure air fan is just to the work piece.
As a still further scheme of the invention: the outer part of one end, far away from the workpiece, of the hollow box body is provided with a non-woven bag, and the non-woven bag is used for containing dust.
As a still further scheme of the invention: the workpiece detection equipment is a square frame, a supporting part is arranged on the lower surface of the square frame, and detection sensors are arranged on four sides of the square frame.
As a still further scheme of the invention: the square frame activity is located the outside of transmission equipment and work piece, the detection sensor is the colour detection sensor, the detection distance of colour detection sensor is 0 ~ 20cm, colour detection sensor and square frame installation angle are 30 °, 45 °, 60 °, 90 °, and square frame is inside every one side all to have a plurality of 30 °, 45 °, 60 °, 90's colour detection sensor.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the air pressure nozzle and the dust collecting equipment are arranged, before the automatic robot sprays the workpiece, the air pressure nozzle can firstly blow and clean the workpiece according to the spraying track, so that a large amount of dust adhered to the surface of the workpiece is blown away, and then the dust collecting equipment extracts the dust through the internal negative pressure fan and pumps the dust into the non-woven fabric bag, so that the adhesion of the dust is reduced, and the influence of the dust on the spraying quality is avoided.
2. According to the invention, through the workpiece detection device, after the automatic robot sprays the workpiece, the workpiece is conveyed to the inside of the square frame in the workpiece detection device, the four side surfaces of the inside of the square frame are respectively provided with the plurality of color detection sensors of 30 degrees, 45 degrees, 60 degrees and 90 degrees, and each surface of the workpiece can be detected by installing the color detection sensors of four different installation angles on the four surfaces, so that the workpiece with the incompletely-sprayed surface, namely the surface which is not covered by the coating, is detected, and the generation of unqualified products is reduced.
Drawings
Fig. 1 is a schematic diagram of a control technique for an automated robotic coating line.
Detailed Description
Referring to fig. 1, in the embodiment of the present invention, a control technique for an automatic robot spraying production line includes the following steps:
s1, spray track control: moving an electrostatic rotary cup on the automatic robot, enabling the electrostatic rotary cup to be located at each position of a workpiece and recording, sending an instruction signal to a driving system and an executing mechanism by an automatic robot controller according to the recorded position point, controlling a spraying track of the automatic robot, enabling the automatic robot to act and spray according to the track, and then setting an item of the electrostatic rotary cup;
s2, workpiece transmission control: hanging the workpiece on a hook of the transmission equipment, controlling the transmission equipment to start and stop through a transmission equipment controller, and moving the workpiece for a certain distance and locating the workpiece at the spraying position of the automatic robot in the S1 every time the workpiece is started, and then stopping the workpiece;
s3, workpiece cleaning control: the automatic robot is positioned at one side of the workpiece, and a dust collecting device is arranged at the other side of the workpiece and used for collecting dust on the workpiece, cleaning the dust on the surface of the workpiece and avoiding the dust from affecting the spraying quality;
s4, spraying process control: after cleaning, the automatic robot controller controls the automatic robot to move, the electrostatic rotary cup is used for spraying a workpiece, the electrostatic rotary cup is used for spraying the workpiece in a set track, and after the workpiece is sprayed, the transmission equipment controller controls the transmission equipment to start, so that the sprayed workpiece is driven to leave, and the workpiece which is not sprayed is positioned at a spraying station;
s5, workpiece detection control: the sprayed workpiece enters workpiece detection equipment through transmission equipment for detection, after the workpiece with the surface being lack of coating and missing coating is detected, a three-color lamp at the upper end of the workpiece detection equipment gives an alarm, an automatic controller controls an automatic robot to stop working, and a transmission equipment controller controls the transmission equipment to stop working.
Preferably, the items of the electrostatic rotary cup in S1 include a spraying distance between the electrostatic rotary cup and the workpiece, a spraying track overlapping width of the electrostatic rotary cup, a spraying amplitude of the electrostatic rotary cup, a rotating speed of the electrostatic rotary cup, and an electrostatic voltage of the electrostatic rotary cup.
Preferably, the spraying distance between the electrostatic rotary cup and the workpiece is 15cm, the overlapping width of the spraying track of the electrostatic rotary cup is 1/2, the spraying amplitude of the electrostatic rotary cup is 350mm, the rotating speed of the electrostatic rotary cup is 30kr/min, and the electrostatic voltage of the electrostatic rotary cup is 85kv.
Preferably, the automatic robot controller, the electrostatic rotary cup, the transmission equipment controller, the air compressor, the dust collecting equipment, the workpiece detecting equipment and the three-color lamp are electrically connected with the PLC control cabinet.
Preferably, a PLC controller is installed inside the PLC control cabinet, the PLC controller is an ohm dragon PLC, a Mitsubishi PLC or a Siemens PLC, and a PLC program is introduced into the PLC controller.
Preferably, the dust collecting device in S3 comprises a hollow box body, a negative pressure fan is arranged inside the hollow box body and used for sucking dust, and the negative pressure fan is right opposite to the workpiece.
Preferably, a non-woven bag is arranged outside one end, far away from the workpiece, of the hollow box body, and is used for containing dust.
Preferably, the workpiece detection device is a square frame, the supporting part is mounted on the lower surface of the square frame, and the detection sensors are mounted on four inner sides of the square frame.
Preferably, the square frame is movably located outside the conveying equipment and the workpiece, the detection sensor is a color detection sensor, the detection distance of the color detection sensor is 0-20 cm, the installation angles of the color detection sensor and the square frame are 30 degrees, 45 degrees, 60 degrees and 90 degrees, each side in the square frame is provided with a plurality of 30 degrees, 45 degrees, 60 degrees and 90 degrees color detection sensors, namely each side is provided with at least one color detection sensor with an installation angle of 30 degrees, 45 degrees, 60 degrees and 90 degrees, so that the color detection sensors can detect each side of the workpiece, and the distance between the workpiece and the color detection sensors is 5 degrees
15cm, the detection color set by the color detection sensor is the same as the color sprayed by the electrostatic rotary cup, and when the color on the workpiece is detected to be different from the color sprayed by the electrostatic rotary cup, the PLC control cabinet controls the three-color lamp to give an alarm, so that a worker can take out the workpiece and repair the workpiece.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention are equivalent to or changed within the technical scope of the present invention.
Claims (9)
1. The control technology of the automatic robot spraying production line is characterized by comprising the following steps:
s1, spray track control: moving an electrostatic rotary cup on the automatic robot to be located at each position of a workpiece and recording, sending an instruction signal to a driving system and an executing mechanism by an automatic robot controller according to the recorded position point, controlling the spraying track of the automatic robot, enabling the automatic robot to act and spray according to the track, and then setting the items of the electrostatic rotary cup;
s2, workpiece transmission control: hanging the workpiece on a hook of the transmission equipment, controlling the transmission equipment to start and stop through a transmission equipment controller, and moving the workpiece for a certain distance and locating the workpiece at the spraying position of the automatic robot in the S1 every time the workpiece is started, and then stopping the workpiece;
s3, workpiece cleaning control: the automatic robot is positioned at one side of the workpiece, and a dust collecting device is arranged at the other side of the workpiece and used for collecting dust on the workpiece;
s4, spraying process control: after cleaning, the automatic robot controller controls the automatic robot to move, the electrostatic rotary cup is used for spraying a workpiece, the electrostatic rotary cup is used for spraying the workpiece in a set track, and after the workpiece is sprayed, the transmission equipment controller controls the transmission equipment to start, so that the sprayed workpiece is driven to leave, and the workpiece which is not sprayed is positioned at a spraying station;
s5, workpiece detection control: the sprayed workpiece enters workpiece detection equipment through transmission equipment for detection, after the workpiece with the surface being lack of coating and missing coating is detected, a three-color lamp at the upper end of the workpiece detection equipment gives an alarm, an automatic controller controls an automatic robot to stop working, and a transmission equipment controller controls the transmission equipment to stop working.
2. The control technology for the automatic robot spraying production line according to claim 1, wherein the items of the electrostatic rotary cup in S1 include a spraying distance between the electrostatic rotary cup and the workpiece, a spraying track overlapping width of the electrostatic rotary cup, a spraying amplitude of the electrostatic rotary cup, a rotating speed of the electrostatic rotary cup, and an electrostatic voltage of the electrostatic rotary cup.
3. The control technology for the automatic robot spraying production line according to claim 2, wherein the spraying distance between the electrostatic rotary cup and the workpiece is 15cm, the overlapping width of the spraying track of the electrostatic rotary cup is 1/2, the spraying amplitude of the electrostatic rotary cup is 350mm, the rotating speed of the electrostatic rotary cup is 30kr/min, and the electrostatic voltage of the electrostatic rotary cup is 85kv.
4. The control technology for the automatic robot spraying production line according to claim 1, wherein the automatic robot controller, the electrostatic rotary cup, the transmission device controller, the air compressor, the dust collecting device, the workpiece detecting device and the three-color lamp are electrically connected with a PLC control cabinet.
5. The control technology for the automatic robot spraying production line according to claim 4, wherein a PLC controller is installed inside the PLC control cabinet, the PLC controller is an ohm dragon PLC, a Mitsubishi PLC or a Siemens PLC, and a PLC program is introduced into the PLC controller.
6. The control technology for the automatic robot spraying production line according to claim 1, wherein the dust collecting device in the step S3 comprises a hollow box body, a negative pressure fan is installed inside the hollow box body, the negative pressure fan is used for sucking dust, and the negative pressure fan is opposite to the workpiece.
7. The control technology for the automatic robot spraying production line of claim 6, wherein a non-woven bag is installed outside one end, far away from the workpiece, of the hollow box body, and the non-woven bag is used for containing dust.
8. The control technology for the automatic robot spraying production line according to claim 1, wherein the workpiece detection device is a square frame, a support member is installed on the lower surface of the square frame, and detection sensors are installed on four inner sides of the square frame.
9. The control technology for the automatic robot spraying production line according to claim 8, wherein the square frame is movably located outside the conveying device and the workpiece, the detection sensor is a color detection sensor, the detection distance of the color detection sensor is 0-20 cm, the installation angle between the color detection sensor and the square frame is 30 °, 45 °, 60 ° and 90 °, and each surface inside the square frame is provided with a plurality of color detection sensors of 30 °, 45 °, 60 ° and 90 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210979422.2A CN115382685A (en) | 2022-08-16 | 2022-08-16 | Control technology of automatic robot spraying production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210979422.2A CN115382685A (en) | 2022-08-16 | 2022-08-16 | Control technology of automatic robot spraying production line |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115382685A true CN115382685A (en) | 2022-11-25 |
Family
ID=84120846
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210979422.2A Pending CN115382685A (en) | 2022-08-16 | 2022-08-16 | Control technology of automatic robot spraying production line |
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| Country | Link |
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| CN (1) | CN115382685A (en) |
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| CN110689539A (en) * | 2019-11-12 | 2020-01-14 | 南京大学 | Workpiece surface defect detection method based on deep learning |
| CN214334662U (en) * | 2021-02-23 | 2021-10-01 | 沈阳亨通光通信有限公司 | Level and wave strap oleamen coating detection device |
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